CN105302066B - The numerical control device of feed speed control is carried out based on stop distance - Google Patents
The numerical control device of feed speed control is carried out based on stop distance Download PDFInfo
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- CN105302066B CN105302066B CN201510431452.XA CN201510431452A CN105302066B CN 105302066 B CN105302066 B CN 105302066B CN 201510431452 A CN201510431452 A CN 201510431452A CN 105302066 B CN105302066 B CN 105302066B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43008—Deceleration and stopping
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43058—Limitation of acceleration, permissible, tolerable acceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43121—Axis speed as function of probing signal during probing of workpiece
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50063—Probe, measure, verify workpiece, feedback measured values
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- Engineering & Computer Science (AREA)
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Numerical Control (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
The present invention relates to a kind of numerical control devices that feed speed control is carried out based on stop distance, stop distance computing unit is in the case where making above-mentioned processing machine not generate the stopping of the peak acceleration of impact, the stop distance that mobile distance and probe are not damaged is carried out from current speed to stopping according to the drive shaft for having probe, calculating makes to have the acceleration that the drive shaft of above-mentioned probe stops, feed speed control unit is according to the calculated acceleration of stop distance computing unit, the speed of drive shaft was calculated each interpolation period, interpolating unit is according to interpolated data and by the speed of the above-mentioned calculated drive shaft of feed speed control unit, the data of output control drive shaft.
Description
Technical field
The present invention relates to a kind of numerical control devices, in particular to the feed speed control for carrying out each axis, so that keeping away
While exempting from the damage of touch probe, it is applied to the reduced numerical control device of the impact of processing machine.
Background technique
It is very heavy on the basis of carrying out high-precision processing in the shape of the determinands such as processing airborne measurements workpiece
It wants.The surface of the technology of shape as measurement determinand, a kind of known front end for making touch probe and determinand connects
Touching, to measure the technology of the shape of determinand.
In the measurement method of such prior art, touch is movably supported to visit by arbitrary drive shaft
Needle, the position of drive shaft when according to the preceding end in contact of touch probe measure the shape of determinand.
On the other hand, the technology of the control device of processing machine is disclosed (for example, Japanese Unexamined Patent Publication 11-338530 public affairs
Report), in order to make full use of processing machine each drive shaft acceleration capacity feed speed control, according to each axis set
Allow maximum speed to control the wiring speed of tool.
When using the shape of touch probe measurement determinand, generation letter is contacted with determinand by touch probe
Number, the numerical control device by having received signal carries out stopping control to the drive shaft of support touch probe in a movable manner
System, thus touch probe stops, but at this moment has following problems, i.e., if touch probe is making a reservation for after contacting with determinand
Distance within do not stop, then can damage probe.
But, even if using the technology recorded in such as Japanese Unexamined Patent Publication 11-338530 bulletin to allow maximum acceleration
Degree carries out axis and is movably controlled, and does not also stop within scheduled distance after issuing halt instruction, so that touching can be damaged
Touch probe.In order to avoid such thing, it is also considered that will allow for the method that peak acceleration is set as biggish value, Bu Guojin
When the such setting of row, drive shaft is always stopped as much as possible with the acceleration for approaching peak acceleration, thus stop away from
From shortening, although can be avoided the damage of touch probe, the impact that when stopping being applied to processing machine becomes larger, and exists to adding
Work machine applies the problem of big load.
Summary of the invention
Therefore, the purpose of the present invention is to provide a kind of numerical control devices, are able to carry out the feed speed control of each axis,
So that avoiding the damage of touch probe, and the impact for being applied to processing machine becomes smaller.
The numerical control device for carrying out feed speed control based on stop distance of the invention has according to processing program control
The processing machine of multiple drive shafts is the processing machine for having probe at least one of above-mentioned drive shaft, by making have above-mentioned spy
The drive shaft and workpiece of needle make a relative move, and carry out the measurement of workpiece, which has: instruction resolution unit,
It indicates the director data of the movement of above-mentioned drive shaft according to the output of above-mentioned processing program；Interpolating unit, according to by above-mentioned finger
The above-metioned instruction data for enabling resolution unit export carry out calculating the above-mentioned drive shaft on the path of motion for indicating each interpolation period
Position interpolated data interpolation processing；Feed speed control unit, it is above-mentioned according to being exported by above-metioned instruction resolution unit
Director data and by the calculated above-mentioned interpolated data of above-mentioned interpolating unit, calculates the speed of the above-mentioned drive shaft in each interpolation period
Degree；And stop distance computing unit calculates stopping for above-mentioned drive shaft according to the present speed and acceleration of above-mentioned drive shaft
Only acceleration, wherein above-mentioned stop distance computing unit makes above-mentioned processing machine not generate the stopping of the peak acceleration of impact
In the case where, mobile distance and above-mentioned is carried out until current speed to stopping according to the drive shaft for having above-mentioned probe
The stop distance that probe does not damage, calculating makes to have the acceleration that the drive shaft of above-mentioned probe stops, above-mentioned feed speed control
Unit is according to the calculated acceleration for stopping the drive shaft for having above-mentioned probe of above-mentioned stop distance computing unit, to each
The interpolation period calculates the speed of above-mentioned drive shaft, and above-mentioned interpolating unit is according to above-mentioned interpolated data and by above-mentioned feed speed control list
The speed of the calculated above-mentioned drive shaft of member, output control the data of above-mentioned drive shaft.
Above-mentioned feed speed control unit calculates the speed for having the drive shaft of above-mentioned probe, i.e., from above-mentioned speed with above-mentioned
In the case that the maximum allowable acceleration of processing machine stops the drive shaft for having above-mentioned probe, it can not be damaged in above-mentioned probe
Distance in the speed that stops, that is, allowable speed calculates and has above-mentioned spy in the range of being no more than above-mentioned allowable speed
The speed of the drive shaft of needle.
The present invention is capable of providing a kind of numerical control device, by making after halt instruction by having the above structure
The control method of the progresss feed speed control stopped in specified distance, when being stopped with peak acceleration no more than can
The speed that stops in specified distance and carry out feed speed control and limit the control method of speed, carry out feed speed control,
Stop the drive shaft for having touch probe in specified distance, is thus stopped with the acceleration of necessity and sufficiency, therefore energy
The damage of touch probe is enough avoided, and the impact for being applied to processing machine can be made to become smaller.
Detailed description of the invention
Illustrate the following embodiments and the accompanying drawings by referring to accompanying drawing, can definitely above-mentioned and other purposes of the invention,
Feature.
Fig. 1 is the block diagram of the main portions of the numerical control device of embodiment of the present invention.
Fig. 2 is the functional block diagram of the numerical control device of embodiment of the present invention.
Fig. 3 is the flow chart of the stop distance calculation processing of embodiment of the present invention.
Fig. 4 is the flow chart of the feed speed control processing of embodiment of the present invention.
Specific embodiment
Fig. 1 is the block diagram of the main portions of the Numerical Control of embodiment of the present invention.The processor of numerical control device 10
(CPU) 11 be the whole processor for controlling numerical control device 10.Processor 11 is stored in ROM12 via the reading of bus 20
System program integrally controls numerical control device 10 according to the system program.Interim calculating data are stored in RAM13, are shown
The various data etc. that registration is inputted by operator accordingly and via LCD/MDI unit 70.
SRAM14 keeps depositing by battery back (not shown) as the power supply of numerical control device 10 is cut off
The nonvolatile memory of storage state, store for make numerical control device execute the processing of aftermentioned feed speed control program,
The processing program read in via interface 15, the processing program inputted via LCD/MDI unit 70 etc..In addition, pre- in ROM12
First write-in is for the processing of edit pattern required for implementing the generation for processing program and editing and for automatic running
The various system programs of processing.
Interface 15 is the interface of the external equipment for that can connect with numerical control device 10, with external memory etc.
External equipment 71 connects.Processing program etc. is read in from external memory.PMC (programmable controller) 16 is by being built in numerical value
Sequential procedure in control device 10 controls the auxiliary device etc. of processing pusher side.
That is, being assisted according to the M function, S function and T function that are indicated by processing program by these sequential procedures
Signal needed for device side transformation, is output to auxiliary device side from I/O unit 17.The auxiliary devices such as various drivers are defeated by this
Signal is acted out.In addition, receiving the signal of various switches of operation panel being provided on processing machine ontology etc., carry out necessary
Processing after be given to processor 11.
It is mono- that the picture signals such as current location, alarm, parameter, the image data of each axis by processing machine are sent to LCD/MDI
Member 70, is shown on its display.LCD/MDI unit 70 is the manual data entry device for having display and keyboard etc., is connect
Mouth 18 is given to processor 11 after the keyboard of LCD/MDI unit 70 reception data.
Each axis servo control circuit 30~32 of the X, Y, Z axis of processing machine receives the move of each axis from processor 11,
The instruction of each axis is exported to servo amplifier 40~42.Servo amplifier 40~42 drives each of processing machine after receiving the instruction
Axis servomotor 50~52.It is built-in with the pulse coder of position detection in the servomotor 50~52 of each axis, comes from
The position signal of the pulse coder is fed back as train of pulse.
Interface 19 is connect with measuring devices 60 such as touch probes, receives rear turn of detection signal exported by measuring device 60 etc.
To processor 11.
Fig. 2 is the functional block diagram of the numerical control device 10 of one embodiment of the present invention.
Numerical control device 10 has instruction analysis unit 110, interpolating portion 120, feed speed control portion 130, stop distance meter
Calculation portion 140.
Compared to the prior art, the numerical control device 10 of present embodiment has the stop distance meter for finding out stop distance
Calculation portion 140.
Instruction analysis unit 110 is exported for the program instruction of the processing program from readings such as SRAM14 and from system program etc.
Halt instruction parsed, be transformed to the data as used in interpolating portion 120 and feed speed control portion 130.Interpolating portion 120
According to the data that instruction analysis unit 110 is exported, the data obtained by the point on interpolation periodic interpolation computations path, root are generated
Each axis servomotor is controlled according to the data and the data exported from feed speed control portion 130.
Feed speed control portion 130 according to instruction analysis unit 110 export data, interpolating portion 120 export interpolated data with
And the instruction exported by the stop distance calculation processing of aftermentioned stop distance calculation part 140, carry out feed speed control processing simultaneously
Calculate the speed of each drive shaft in each interpolation period.The instruction speed for including in the data parsed according to instruction analysis unit 110
The setting such as constant when each interpolation period position of each axis for including in degree, the interpolated data that is exported by interpolating portion 120, acceleration and deceleration
Value is calculated as the speed of each drive shaft of control object.
Stop distance calculation part 140 is according to each drive shaft in each interpolation period obtained from feed speed control portion 130
Speed, the value from the calculated acceleration of speed of each drive shaft in each interpolation period, calculate movably support and visit
The acceleration at stall determined according to calculated stop distance is exported and gives feed speed control portion by the stop distance of the drive shaft of needle
130。
In addition, position, speed, acceleration etc. about each interpolation period, are the numbers for controlling processing machine in the prior art
The information obtained in value control device, so omitting the detailed records such as calculation method.
Hereinafter, the summary for the stop distance calculation processing that explanation is executed by the stop distance calculation part 140 of present embodiment.
In the stop distance calculation processing of present embodiment, using touch probe measurement determinand shape when
Stop after touch probe contact determinand, the drive shaft for movably supporting touch probe is made to stop passing through in control
Following steps calculate the damage that can be avoided processing machine and touch probe etc. according to the present speed of drive shaft and acceleration
Stop distance appropriate.
Firstly, the specified peak acceleration A1 for not issuing impact to processing machine.Peak acceleration A1 can be by being stored in
The setup parameter etc. of numerical control device 10 in SRAM14 etc. is preset.
Then, it when touch probe is contacted with speed V and determinand, is calculated by formula 1 below with acceleration A 1
Stop distance LA when stopping.
... (formula 1)
In turn, the stop distance for not damaging touch probe is set as LS, determines whether to meet formula 2.Furthermore it is possible to pass through
The setup parameter etc. for the numerical control device 10 being stored in SRAM14 etc. presets the stop distance for not damaging touch probe
LS。
LA≤LS ... (formula 2)
Also, with acceleration A 1 stopping when stop distance LA and do not damage touch probe stop distance LS meet public affairs
When formula 2, the instruction stopped with acceleration A 1 is exported to feed speed control portion 130, when being unsatisfactory for formula 2, is passing through formula 3
On the basis of acceleration A S when calculating with stop distance LS stopping, the instruction stopped with acceleration A S is output to acceleration and deceleration
Portion 130 processed.
... (formula 3)
Fig. 3 is off the flow chart of the stop distance calculation processing executed apart from calculation part 140.
[S301] is calculated according to the peak acceleration A1 of impact, the speed V of touch probe is not issued to processing machine to accelerate
Spend stop distance LA when A1 stops.
[S302] is compared stop distance LA when being stopped with the calculated acceleration A 1 of S301 and is not damaged touch probe
Stop distance LS.When with acceleration A 1 stopping when stop distance LA when not damaging the stop distance LS or less of touch probe,
Enter when stop distance LA ratio when with the stopping of acceleration A 1 does not damage the stop distance LS long of touch probe into S303
S304。
The instruction stopped with acceleration A 1 is output to feed speed control portion 130 by [S303].
Acceleration A S when [S304] is calculated with stop distance LS stopping.
[S305] exports the instruction stopped with acceleration A S to feed speed control portion 130.
More than, as the stop distance calculation processing that stop distance calculation part 140 executes, quilt is being measured using touch probe
When measuring the shape of object, in the stopping control after touch probe is contacted with determinand, indicate that calculating can be avoided processing machine
It but as other embodiments of the invention, is being used with the example of the stop distance appropriate of the damage of touch probe etc.
Touch probe measure determinand shape when, for make after touch probe is contacted with determinand with maximum allowable acceleration into
Row slows down can stop when stopping in specified distance, the drive shaft of the 130 pairs of support touch probes in output feed speed control portion
The instruction that is controlled of speed.
Hereinafter, the summary of the explanation feed speed control processing that feed speed control portion 130 executes in other embodiments.
Although impacting firstly, issuing to processing machine, the i.e. maximum allowable acceleration A 2 of acceleration that can be allowed is defined.Most
Big allowable acceleration A2 can be set in advance by setup parameter for the numerical control device 10 being stored in SRAM14 etc. etc.
It is fixed.
Then, it after touch probe is contacted with determinand, when with the stopping of maximum allowable acceleration A 2, is counted by formula 4
Calculate the allowable speed VS that can stop with the stop distance LS that touch probe does not damage.
... (formula 4)
In turn, the indicative speed of move obtained from parsing processing program as instruction analysis unit 110 is set
For V, determine whether to meet formula 5.
L≤VS ... (formula 5)
Also, when being determined as that indicated speed V is below allowable speed VS, so that acceleration and deceleration are calculated to speed V
Output is to interpolating portion 120 after the speed of the drive shaft in each interpolation period, when indicated speed V is bigger than allowable speed VS,
Output is to interpolating portion 120 after acceleration and deceleration calculate the speed of the drive shaft in each interpolation period to speed VS.
Fig. 4 is the flow chart for the feed speed control processing that feed speed control portion 130 executes.
[S401] according to stop distance LS, the maximum allowable acceleration A 2 of not damaging touch probe, calculating can be not damage
The allowable speed VS that the stop distance LS of bad touch probe stops.
[S402] compares the indicative speed V of move by obtaining after parsing processing program and calculates in S401
Allowable speed VS out.When speed V is below allowable speed VS, into S403, when speed V is bigger than allowable speed VS, into
Enter S404.
[S403] acceleration and deceleration calculate the speed of the drive shaft in each interpolation period to speed V, are output to interpolating portion 120.
[S404] acceleration and deceleration calculate the speed of the drive shaft in each interpolation period to speed VS, are output to interpolating portion 120.
Claims (2)
1. a kind of numerical control device for being carried out feed speed control based on stop distance is had multiple according to processing program control
Drive shaft and the processing machine for having probe at least one of above-mentioned drive shaft, by make to have the drive shaft of above-mentioned probe with
Workpiece makes a relative move, and carries out the measurement of workpiece, and the numerical control device of feed speed control should be carried out based on stop distance
It is characterized in that,
Have:
Resolution unit is instructed, the director data of the movement of above-mentioned drive shaft is indicated according to the output of above-mentioned processing program；
Interpolating unit, according to the above-metioned instruction data exported by above-metioned instruction resolution unit, calculate indicates each interpolation
The interpolation processing of the interpolated data of position of the above-mentioned drive shaft in period on path of motion；
Feed speed control unit, according to the above-metioned instruction data exported by above-metioned instruction resolution unit and by above-mentioned interpolating unit
Calculated above-mentioned interpolated data calculates the speed of the above-mentioned drive shaft in each interpolation period；And
Stop distance computing unit calculates stopping for above-mentioned drive shaft according to the current velocity and acceleration of above-mentioned drive shaft
Only acceleration, wherein
Above-mentioned stop distance computing unit in the case where making above-mentioned processing machine and being stopped with not generating the peak acceleration of impact,
Mobile distance is carried out until current speed to stopping according to the drive shaft for having above-mentioned probe, above-mentioned probe does not damage
The stop distance of wound, calculating makes to have the acceleration that the drive shaft of above-mentioned probe stops,
Above-mentioned feed speed control unit is according to the calculated drive shaft for making to have above-mentioned probe of above-mentioned stop distance computing unit
The acceleration of stopping calculates the speed of above-mentioned drive shaft in each interpolation period,
Above-mentioned interpolating unit is according to above-mentioned interpolated data and by the speed of the calculated above-mentioned drive shaft of above-mentioned feed speed control unit
Degree, output control the data of above-mentioned drive shaft.
2. the numerical control device according to claim 1 for carrying out feed speed control based on stop distance, which is characterized in that
Above-mentioned feed speed control unit calculates the speed for having the drive shaft of above-mentioned probe, that is, makes the driving for having above-mentioned probe
Axis from the speed of above-mentioned drive shaft stopped with the maximum allowable acceleration of above-mentioned processing machine in the case where can above-mentioned probe not
The speed stopped in the distance of damage, that is, allowable speed are calculated in the range of being no more than above-mentioned allowable speed on having
State the speed of the drive shaft of probe.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014148840A JP6440984B2 (en) | 2014-07-22 | 2014-07-22 | Numerical control device that performs acceleration / deceleration control by stopping distance |
| JP2014-148840 | 2014-07-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105302066A CN105302066A (en) | 2016-02-03 |
| CN105302066B true CN105302066B (en) | 2019-03-12 |
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| CN201510431452.XA Active CN105302066B (en) | 2014-07-22 | 2015-07-21 | The numerical control device of feed speed control is carried out based on stop distance |
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| Country | Link |
|---|---|
| US (1) | US9606528B2 (en) |
| JP (1) | JP6440984B2 (en) |
| CN (1) | CN105302066B (en) |
| DE (1) | DE102015009219B9 (en) |
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| JP6484261B2 (en) * | 2017-01-19 | 2019-03-13 | ファナック株式会社 | Numerical controller |
| JP6966415B2 (en) * | 2018-12-26 | 2021-11-17 | ファナック株式会社 | Control method, control device and program |
| CN109991935B (en) * | 2019-04-08 | 2021-11-05 | 沈机（上海）智能系统研发设计有限公司 | Numerical control system, control method thereof, control device, storage medium and terminal |
| JP7376260B2 (en) * | 2019-06-19 | 2023-11-08 | ファナック株式会社 | numerical control device |
| CN110421400B (en) * | 2019-07-02 | 2021-05-25 | 绍兴安迪自动化设备有限公司 | Numerical control machine tool anti-collision control method |
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| DE102011122202A1 (en) | 2011-12-23 | 2013-06-27 | Andreas Ehlerding | Moving device for translatory movement of length-variable beam of laser cutting machine, has auxiliary axle unit, where elements of beams are displaceable towards each other such that axle unit is translatively movable at last element |
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2014
- 2014-07-22 JP JP2014148840A patent/JP6440984B2/en active Active
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2015
- 2015-07-13 US US14/797,395 patent/US9606528B2/en active Active
- 2015-07-15 DE DE102015009219.7A patent/DE102015009219B9/en active Active
- 2015-07-21 CN CN201510431452.XA patent/CN105302066B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11338530A (en) * | 1998-05-28 | 1999-12-10 | Fanuc Ltd | Controller for working machine |
| CN101339428A (en) * | 2007-07-02 | 2009-01-07 | 发那科株式会社 | Numerical controller controlling acceleration and deceleration of respective control axes up to command speeds |
| CN102233587A (en) * | 2010-04-28 | 2011-11-09 | 株式会社安川电机 | Apparatus and method for detecting contact position of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| US9606528B2 (en) | 2017-03-28 |
| DE102015009219B9 (en) | 2021-11-25 |
| JP2016024661A (en) | 2016-02-08 |
| CN105302066A (en) | 2016-02-03 |
| DE102015009219B4 (en) | 2021-09-16 |
| US20160026175A1 (en) | 2016-01-28 |
| DE102015009219A1 (en) | 2016-01-28 |
| JP6440984B2 (en) | 2018-12-19 |
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